Use python_qt_binding#157 and skip shiboken

qt_gui/src/qt_gui/about_handler.py

@@ -32,6 +32,8 @@
 import platform
 import sys
 
+from packaging.version import Version
+
 from python_qt_binding import QT_BINDING, QT_BINDING_MODULES, QT_BINDING_VERSION
 from python_qt_binding.QtCore import QObject, qVersion
 from python_qt_binding.QtWidgets import QMessageBox
@@ -99,6 +101,16 @@ def show(self):
 
         text += '.</p>'
 
+        if Version(QT_BINDING_VERSION) < Version('6.0.0'):
+            no_icon = QMessageBox.NoIcon
+            ok = QMessageBox.Ok
+        else:
+            no_icon = QMessageBox.Icon.NoIcon
+            ok = QMessageBox.StandardButton.Ok
+
         mb = QMessageBox(
-            QMessageBox.NoIcon, self.tr('About rqt'), text, QMessageBox.Ok, self.parent())
-        mb.exec_()
+            no_icon, self.tr('About rqt'), text, ok, self.parent())
+        if Version(QT_BINDING_VERSION) < Version('6.0.0'):
+            mb.exec_()
+        else:
+            mb.exec()

qt_gui/src/qt_gui/perspective_manager.py

@@ -100,7 +100,10 @@ def __init__(self, settings, application_context):
     def set_menu(self, menu):
         self._menu_manager = MenuManager(menu)
         self._perspective_mapper = QSignalMapper(menu)
-        self._perspective_mapper.mapped[str].connect(self.switch_perspective)
+        if Version(QT_BINDING_VERSION) <= Version('5.14.0'):
+            self._perspective_mapper.mapped[str].connect(self.switch_perspective)
+        else:
+            self._perspective_mapper.mappedString[str].connect(self.switch_perspective)
 
         # generate menu
         create_action = QAction('&Create perspective...', self._menu_manager.menu)

qt_gui/src/qt_gui/plugin_menu.py

@@ -67,7 +67,10 @@ def __init__(self, menu_bar, plugin_manager):
         action.setVisible(False)
         self._running_menu_manager.add_item(action)
         self._running_mapper = QSignalMapper(running_menu)
-        self._running_mapper.mapped[str].connect(self.unload_plugin_signal)
+        if Version(QT_BINDING_VERSION) <= Version('5.14.0'):
+            self._running_mapper.mapped[str].connect(self.unload_plugin_signal)
+        else:
+            self._running_mapper.mappedString[str].connect(self.unload_plugin_signal)
 
         self._instances = {}
 

qt_gui_cpp/CMakeLists.txt

@@ -20,8 +20,8 @@ if(WIN32)
 endif()
 
 find_package(pluginlib REQUIRED)
-find_package(QT NAMES Qt6 Qt5 REQUIRED COMPONENTS Widgets Core)
-find_package(Qt${QT_VERSION_MAJOR} REQUIRED COMPONENTS Widgets Core)
+include(cmake/qt_gui_cpp-extras.cmake)
+find_package(Qt${qt_gui_cpp_USE_QT_MAJOR_VERSION} REQUIRED COMPONENTS Widgets Core)
 find_package(TinyXML2 REQUIRED)
 
 ament_python_install_package(${PROJECT_NAME}
@@ -44,7 +44,7 @@ set(qt_gui_cpp_HDRS
   include/qt_gui_cpp/plugin_context.hpp
 )
 
-if(${QT_VERSION_MAJOR} GREATER "5")
+if(${qt_gui_cpp_USE_QT_MAJOR_VERSION} GREATER "5")
   qt_standard_project_setup()
   qt_wrap_cpp(qt_gui_cpp_MOCS ${qt_gui_cpp_HDRS})
 else()
@@ -62,8 +62,8 @@ target_link_libraries(${PROJECT_NAME}
   PUBLIC
     ${QT_QTCORE_LIBRARY}
     ${QT_QTGUI_LIBRARY}
-    Qt${QT_VERSION_MAJOR}::Widgets
-    Qt${QT_VERSION_MAJOR}::Core
+    Qt${qt_gui_cpp_USE_QT_MAJOR_VERSION}::Widgets
+    Qt${qt_gui_cpp_USE_QT_MAJOR_VERSION}::Core
     pluginlib::pluginlib
     tinyxml2::tinyxml2
 )
@@ -84,7 +84,7 @@ install(
   DESTINATION include/${PROJECT_NAME}
 )
 
-if(${QT_VERSION_MAJOR} GREATER "5")
+if(${qt_gui_cpp_USE_QT_MAJOR_VERSION} GREATER "5")
   ament_export_dependencies(Qt6)
 endif()
 ament_export_dependencies(pluginlib TinyXML2)

qt_gui_cpp/cmake/qt_gui_cpp-extras.cmake

@@ -26,4 +26,6 @@
 # ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 # POSSIBILITY OF SUCH DAMAGE.
 
-set(qt_gui_cpp_USE_QT_MAJOR_VERSION 6)
+
+find_package(python_qt_binding QUIET)
+set(qt_gui_cpp_USE_QT_MAJOR_VERSION "${python_qt_binding_QT_MAJOR_VERSION}")

qt_gui_cpp/src/qt_gui_cpp_shiboken/CMakeLists.txt

@@ -1,3 +1,9 @@
+
+# Cannot use shiboken because of bugs in Debian and Ubuntu
+# https://bugs.debian.org/cgi-bin/bugreport.cgi?bug=1131536
+# https://bugs.launchpad.net/ubuntu/+source/pyside6/+bug/2146611
+return()
+
 find_package(Qt${QT_VERSION_MAJOR}Widgets REQUIRED)
 
 set(qt_gui_cpp_shiboken_QT_COMPONENTS
@@ -46,28 +52,13 @@ if(${QT_VERSION_MAJOR} GREATER "5")
   set(qt_gui_cpp_BINDINGS "${qt_gui_cpp_BINDINGS}" PARENT_SCOPE)
   # Find required packages
   find_package(Python COMPONENTS Interpreter Development REQUIRED)
-  # On RHEL and some other distros, Python wheels and site-packages may be installed under 'lib64'
-  # instead of 'lib'. The FindPython CMake module may set Python_SITELIB to 'lib', which is incorrect
-  # for these cases. To ensure compatibility, we override Python_SITELIB by querying Python directly.
-  # This guarantees the correct site-packages path is used regardless of platform or Python build.
-  execute_process(
-      COMMAND ${Python_EXECUTABLE} -c
-      "import site; print(next(p for p in site.getsitepackages() if 'site-packages' in p))"
-      OUTPUT_VARIABLE Python_SITELIB
-      OUTPUT_STRIP_TRAILING_WHITESPACE
-  )
-
-  list(APPEND CMAKE_PREFIX_PATH
-      "${Python_SITELIB}/shiboken6_generator/lib/cmake"
-  )
   find_package(Shiboken6Tools REQUIRED)
 
   set(shiboken_extra_options_str "")
   foreach(dir ${class_loader_INCLUDE_DIRS} ${pluginlib_INCLUDE_DIRS} ${rcutils_INCLUDE_DIRS} ${rcpputils_INCLUDE_DIRS})
     list(APPEND shiboken_extra_options_str "-I\"${dir}\"")
   endforeach()
 
-
   message(shiboken_extra_options_str ${shiboken_extra_options_str})
 
   # Create Python bindings using Shiboken6Tools function
@@ -88,39 +79,32 @@ if(${QT_VERSION_MAJOR} GREATER "5")
 else()
   include(${python_qt_binding_DIR}/shiboken_helper.cmake)
   if(shiboken_helper_FOUND)
-    if(Shiboken_VERSION VERSION_GREATER "1.1.1")
-      # shiboken 1.1.2 and higher will segfault until https://bugreports.qt-project.org/browse/PYSIDE-218 is fixed
-      message(WARNING "Shiboken version ${Shiboken_VERSION} would segfault when trying to process qt_gui_cpp "
-      "(see https://bugreports.qt-project.org/browse/PYSIDE-218)"
-      " Therefore shiboken bindings are being skipped.")
-    else()
-      list(APPEND qt_gui_cpp_BINDINGS "shiboken")
-      set(qt_gui_cpp_BINDINGS "${qt_gui_cpp_BINDINGS}" PARENT_SCOPE)
+    list(APPEND qt_gui_cpp_BINDINGS "shiboken")
+    set(qt_gui_cpp_BINDINGS "${qt_gui_cpp_BINDINGS}" PARENT_SCOPE)
 
-      set(QT_INCLUDE_DIR "${Qt5Widgets_INCLUDE_DIRS}")
-      shiboken_generator(
-        libqt_gui_cpp
-        global.h
-        typesystem.xml
-        ${PROJECT_SOURCE_DIR}/src/qt_gui_cpp_shiboken
-        "${qt_gui_cpp_shiboken_SRCS}"
-        "${qt_gui_cpp_HDRS}"
-        "${qt_gui_cpp_INCLUDE_PATH}"
-        "${CMAKE_CURRENT_BINARY_DIR}")
+    set(QT_INCLUDE_DIR "${Qt5Widgets_INCLUDE_DIRS}")
+    shiboken_generator(
+      libqt_gui_cpp
+      global.h
+      typesystem.xml
+      ${PROJECT_SOURCE_DIR}/src/qt_gui_cpp_shiboken
+      "${qt_gui_cpp_shiboken_SRCS}"
+      "${qt_gui_cpp_HDRS}"
+      "${qt_gui_cpp_INCLUDE_PATH}"
+      "${CMAKE_CURRENT_BINARY_DIR}")
 
-      shiboken_include_directories(qt_gui_cpp_shiboken "${qt_gui_cpp_shiboken_QT_COMPONENTS}")
+    shiboken_include_directories(qt_gui_cpp_shiboken "${qt_gui_cpp_shiboken_QT_COMPONENTS}")
 
-      add_library(qt_gui_cpp_shiboken SHARED ${qt_gui_cpp_shiboken_SRCS})
-      target_include_directories(qt_gui_cpp_shiboken PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/../../include)
-      target_link_libraries(qt_gui_cpp_shiboken
-        ${PROJECT_NAME}
-        pluginlib::pluginlib
-        tinyxml2::tinyxml2
-      )
-      shiboken_target_link_libraries(qt_gui_cpp_shiboken "${qt_gui_cpp_shiboken_QT_COMPONENTS}")
+    add_library(qt_gui_cpp_shiboken SHARED ${qt_gui_cpp_shiboken_SRCS})
+    target_include_directories(qt_gui_cpp_shiboken PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/../../include)
+    target_link_libraries(qt_gui_cpp_shiboken
+      ${PROJECT_NAME}
+      pluginlib::pluginlib
+      tinyxml2::tinyxml2
+    )
+    shiboken_target_link_libraries(qt_gui_cpp_shiboken "${qt_gui_cpp_shiboken_QT_COMPONENTS}")
 
-      install(TARGETS qt_gui_cpp_shiboken
-        DESTINATION ${PYTHON_INSTALL_DIR}/${PROJECT_NAME})
-    endif()
+    install(TARGETS qt_gui_cpp_shiboken
+      DESTINATION ${PYTHON_INSTALL_DIR}/${PROJECT_NAME})
   endif()
 endif()

qt_gui_cpp/src/qt_gui_cpp_sip/CMakeLists.txt

@@ -1,7 +1,7 @@
 set(qt_gui_cpp_HDRS_DIR ${CMAKE_CURRENT_SOURCE_DIR}/../../include/qt_gui_cpp)
 
 set(qt_gui_cpp_sip "qt_gui_cpp.sip")
-if(${QT_VERSION_MAJOR} GREATER "5")
+if(${qt_gui_cpp_USE_QT_MAJOR_VERSION} GREATER "5")
   set(qt_gui_cpp_sip "qt_gui_cpp_6.sip")
 endif()
 
@@ -32,110 +32,29 @@ set(qt_gui_cpp_sip_DEPENDENT_FILES
   ${qt_gui_cpp_HDRS_DIR}/settings.hpp
 )
 
-# maintain context for different named target
-set(qt_gui_cpp_sip_INCLUDE_DIRS ${qt_gui_cpp_INCLUDE_DIRS} "${CMAKE_CURRENT_SOURCE_DIR}/../../include")
-set(qt_gui_cpp_sip_LIBRARY_DIRS ${qt_gui_cpp_LIBRARY_DIRS} lib)
-set(qt_gui_cpp_sip_LDFLAGS_OTHER ${qt_gui_cpp_LDFLAGS_OTHER})
-
-ament_get_recursive_properties(deps_include_dirs deps_libraries ${pluginlib_TARGETS})
-list(APPEND deps_include_dirs ${TinyXML2_INCLUDE_DIRS})
-list(APPEND deps_libraries ${TinyXML2_LIBRARIES})
-
-# By default, without the settings below, find_package(Python3) will attempt
-# to find the newest python version it can, and additionally will find the
-# most specific version.  For instance, on a system that has
-# /usr/bin/python3.10, /usr/bin/python3.11, and /usr/bin/python3, it will find
-# /usr/bin/python3.11, even if /usr/bin/python3 points to /usr/bin/python3.10.
-# The behavior we want is to prefer the "system" installed version unless the
-# user specifically tells us othewise through the Python3_EXECUTABLE hint.
-# Setting CMP0094 to NEW means that the search will stop after the first
-# python version is found.  Setting Python3_FIND_UNVERSIONED_NAMES means that
-# the search will prefer /usr/bin/python3 over /usr/bin/python3.11.  And that
-# latter functionality is only available in CMake 3.20 or later, so we need
-# at least that version.
-cmake_minimum_required(VERSION 3.20)
-cmake_policy(SET CMP0094 NEW)
-set(Python3_FIND_UNVERSIONED_NAMES FIRST)
-
-find_package(Python3 REQUIRED COMPONENTS Development)
-
-set(_qt_gui_cpp_sip_LIBRARIES
-  ${deps_libraries}
-  Python3::Python
+set(qt_gui_cpp_sip_LIBRARIES
+  ${TinyXML2_LIBRARIES}
+  ${pluginlib_TARGETS}
   qt_gui_cpp
 )
 
-# sip needs libraries to have resolved paths and cannot link to cmake targets
-foreach(_lib_name ${_qt_gui_cpp_sip_LIBRARIES})
-  if(TARGET ${_lib_name})
-    # Use a nifty cmake generator expression to resolve the target location
-    list(APPEND qt_gui_cpp_sip_LIBRARIES $<TARGET_FILE:${_lib_name}>)
-  else()
-    # This library should work as is
-    list(APPEND qt_gui_cpp_sip_LIBRARIES ${_lib_name})
-  endif()
-endforeach()
-
 find_package(python_qt_binding REQUIRED)
 include(${python_qt_binding_DIR}/sip_helper.cmake)
 
 ament_export_dependencies(pluginlib)
-include_directories(${PROJECT_NAME} ${qt_gui_cpp_INCLUDE_DIRECTORIES} ${deps_include_dirs})
-
-# The include directories used by build_sip_binding are different than the one set in include directories
-set(qt_gui_cpp_sip_INCLUDE_DIRS ${qt_gui_cpp_sip_INCLUDE_DIRS} ${deps_include_dirs})
 
 if(sip_helper_FOUND)
   list(APPEND qt_gui_cpp_BINDINGS "sip")
   set(qt_gui_cpp_BINDINGS "${qt_gui_cpp_BINDINGS}" PARENT_SCOPE)
 
-  if(${QT_VERSION_MAJOR} GREATER "5")
-    # Get all relevant Qt include dirs, to pass them on to shiboken.
-    get_property(QT_WIDGETS_INCLUDE_DIRS TARGET Qt${QT_VERSION_MAJOR}::Widgets PROPERTY INTERFACE_INCLUDE_DIRECTORIES)
-    set(INCLUDES "")
-    foreach(INCLUDE_DIR ${QT_WIDGETS_INCLUDE_DIRS})
-        list(APPEND INCLUDES "-I${INCLUDE_DIR}")
-    endforeach()
-
-    # We need to include the headers for the module bindings that we use.
-    set(PYSIDE_ADDITIONAL_INCLUDES "")
-    foreach(INCLUDE_DIR ${PYSIDE_INCLUDE_DIR})
-        list(APPEND PYSIDE_ADDITIONAL_INCLUDES "${INCLUDE_DIR}/QtCore")
-        list(APPEND PYSIDE_ADDITIONAL_INCLUDES "${INCLUDE_DIR}/QtGui")
-        list(APPEND PYSIDE_ADDITIONAL_INCLUDES "${INCLUDE_DIR}/QtWidgets")
-    endforeach()
-    build_sip_6_binding(qt_gui_cpp_sip qt_gui_cpp.sip
-      SOURCE_DIR ${PROJECT_SOURCE_DIR}/src/qt_gui_cpp_sip
-      LIBRARY_DIR ${CMAKE_CURRENT_BINARY_DIR}
-      DEPENDS ${qt_gui_cpp_sip_DEPENDENT_FILES}
-      DEPENDENCIES qt_gui_cpp
-    )
-  else()
-    build_sip_binding(qt_gui_cpp_sip qt_gui_cpp.sip
-      SOURCE_DIR ${PROJECT_SOURCE_DIR}/src/qt_gui_cpp_sip
-      LIBRARY_DIR ${CMAKE_CURRENT_BINARY_DIR}
-      DEPENDS ${qt_gui_cpp_sip_DEPENDENT_FILES}
-      DEPENDENCIES qt_gui_cpp
-    )
-  endif()
-
-  if(APPLE)
-    set(LIBQT_GUI_CPP_SIP_SUFFIX .so)
-  elseif(WIN32)
-    set(LIBQT_GUI_CPP_SIP_SUFFIX .pyd)
-  else()
-    set(LIBQT_GUI_CPP_SIP_SUFFIX ${CMAKE_SHARED_LIBRARY_SUFFIX})
-  endif()
-
-  if(${QT_VERSION_MAJOR} GREATER "5")
-    execute_process(
-      COMMAND ${Python3_EXECUTABLE} -c "import sysconfig as c; print(c.get_config_var('EXT_SUFFIX'), end='')"
-      OUTPUT_VARIABLE PYTHON_EXTENSION_MODULE_SUFFIX
-      ERROR_QUIET)
-    install(FILES ${CMAKE_CURRENT_BINARY_DIR}/libqt_gui_cpp_sip${PYTHON_EXTENSION_MODULE_SUFFIX}
-        DESTINATION ${PYTHON_INSTALL_DIR}/${PROJECT_NAME})
-  else()
-    install(FILES ${CMAKE_CURRENT_BINARY_DIR}/libqt_gui_cpp_sip${LIBQT_GUI_CPP_SIP_SUFFIX}
-        DESTINATION ${PYTHON_INSTALL_DIR}/${PROJECT_NAME})
-  endif()
+  build_sip_binding(qt_gui_cpp_sip ${qt_gui_cpp_sip}
+    SOURCE_DIR ${PROJECT_SOURCE_DIR}/src/qt_gui_cpp_sip
+    LIBRARY_DIR ${CMAKE_CURRENT_BINARY_DIR}
+    DEPENDS ${qt_gui_cpp_sip_DEPENDENT_FILES}
+    DEPENDENCIES qt_gui_cpp ${deps_libraries}
+  )
+  # build_sip_binding prefixes the target with "lib"
+  install(TARGETS libqt_gui_cpp_sip
+    DESTINATION "${PYTHON_INSTALL_DIR}/${PROJECT_NAME}"
+  )
 endif()